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Design and Optimization of a Mechanism for Out of Plane Insect Wing Like Motion With Twist

[+] Author Affiliations
Sai K. Banala, Yeliz Karakaya, Sean McIntosh, Zaeem Khan, Sunil K. Agrawal

University of Delaware, Newark, DE

Paper No. DETC2004-57412, pp. 1055-1061; 7 pages
  • ASME 2004 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 2: 28th Biennial Mechanisms and Robotics Conference, Parts A and B
  • Salt Lake City, Utah, USA, September 28–October 2, 2004
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 0-7918-4695-4 | eISBN: 0-7918-3742-4
  • Copyright © 2004 by ASME


A mechanism is presented that can generate insect wing like motion. This motion includes both flapping out of the stroke plane in addition to twist of the wing. The mechanism has a single degree-of-freedom and employs a five bar mechanism in addition to an auxiliary four bar mechanism. The parameters in the mechanism were optimized to generate a prescribed motion of the wing taken from a hawk moth kinematic flight data. A scaled model of the mechanism was fabricated to verify practical feasibility of the design. In future we will miniaturize this mechanism on our flying bird prototypes.

Copyright © 2004 by ASME



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